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Marker-based Registration for Large Deformations -Application to Open Liver Surgery

Abstract : This paper introduces an Augmented Reality (AR) system for open liver surgery. Although open surgery remains the gold-standard for the treatment of complex tumors and central lesions, technological issues actually prevent using AR with sufficient accuracy for clinical use. We propose a markers-based method allowing for the tracking and the deformation of a preoperative model in real-time during the surgery. Markers are manually placed on the surface of the organ after opening the abdominal cavity, and tracked in real-time by a set of infrared cameras. Our framework is composed of both a non-rigid initial registration method, providing an estimation of the location of the markers in the preoperative model, and a real-time tracking algorithm to deform the model during the surgery (even for large deformation or partial occlusion of the organ). The method is validated on both synthetic and ex-vivo samples; in addition, we demonstrate its applicability in the operating room during a liver resection surgery on a human patient. Preliminary studies provided promising results to improve the location of tumors, and to help surgeons into planning the ideal resection intraoperatively.
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Contributor : Yinoussa Adagolodjo Connect in order to contact the contributor
Submitted on : Tuesday, May 15, 2018 - 7:30:57 PM
Last modification on : Thursday, December 2, 2021 - 3:17:15 AM
Long-term archiving on: : Tuesday, September 25, 2018 - 7:06:28 AM


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  • HAL Id : hal-01792837, version 1


Yinoussa Adagolodjo, Nicolas Golse, Eric Vibert, Michel de Mathelin, Stéphane Cotin, et al.. Marker-based Registration for Large Deformations -Application to Open Liver Surgery. ICRA 2018 - International Conference on Robotics and Automation, May 2018, Brisbane, Australia. ⟨hal-01792837⟩



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